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<div class="title">C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Subscriber.hpp</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Have include guard.</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#ifndef FPK_SUBSCRIBER_HPP</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define FPK_SUBSCRIBER_HPP</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Include files.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;boost/smart_ptr/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;Internal/NullDeleter.hpp&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">struct </span><a class="code" href="struct_unspecified.html">Unspecified</a>;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Result&gt;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">class </span><a class="code" href="class_operation.html">Operation</a>;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="code" href="class_subscriber.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_subscriber.html">Subscriber</a></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;{</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        <span class="comment">// Befriend our robot class so it can call our event handlers.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_systematic_robot.html">SystematicRobot</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_service.html">Service</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_robot_subsystem.html">RobotSubsystem</a>;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        </div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Result&gt;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_operation.html">Operation</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                <a class="code" href="class_subscriber.html#acf994baa7d26eaa3d05c767b695e5d64">Subscriber</a>();</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                <span class="keyword">virtual</span> <a class="code" href="class_subscriber.html#a699f864e05fe964363aeaeb600eeb6b4">~Subscriber</a>();</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="code" href="class_subscriber.html#adf012d21f14dd64d1afd95efe799d370">   48</a></span>&#160;                T &amp;<a class="code" href="class_subscriber.html#adf012d21f14dd64d1afd95efe799d370">RequireControl</a>(T &amp;obj)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                        m_controlLocksRequired.insert(&amp;obj);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                        <span class="keywordflow">return</span> obj;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="code" href="class_subscriber.html#aa545a5133edce53707738ee55d7b47cc">   62</a></span>&#160;                boost::shared_ptr&lt;T&gt; <a class="code" href="class_subscriber.html#aa545a5133edce53707738ee55d7b47cc">Launch</a>(boost::shared_ptr&lt;T&gt; operation)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                        LaunchInternal(operation);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                        <span class="keywordflow">return</span> operation;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="code" href="class_subscriber.html#ac4d2c5853af0a642ce7f5b52b3d09112">   77</a></span>&#160;                boost::shared_ptr&lt;T&gt; <a class="code" href="class_subscriber.html#aa545a5133edce53707738ee55d7b47cc">Launch</a>(T *operation, <span class="keywordtype">bool</span> canDeleteOperation = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                        boost::shared_ptr&lt;T&gt; operationShared;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                        </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                        <span class="keywordflow">if</span> (canDeleteOperation)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                                operationShared = boost::shared_ptr&lt;T&gt;(operation);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                                operationShared = boost::shared_ptr&lt;T&gt;(operation, <a class="code" href="struct_null_deleter.html">NullDeleter</a>());</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                        </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                        LaunchInternal(operationShared);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                        </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                        <span class="keywordflow">return</span> operationShared;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                <span class="keywordtype">void</span> <a class="code" href="class_subscriber.html#a8db71f899cdbf3608791b8506814c850">CancelAllOperations</a>();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_subscriber.html#a6ffeb82e812ef06db4aff08ee01d427b">HandlePeriodic</a>();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                <a class="code" href="class_systematic_robot.html">SystematicRobot</a> *m_robot;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                <a class="code" href="class_subscriber.html">Subscriber</a> *m_parent;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                <span class="keywordtype">bool</span> m_isSubscribed;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                std::set&lt;Operation&lt;Unspecified&gt;*&gt; m_operations;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                std::set&lt;boost::shared_ptr&lt;Subscriber&gt; &gt; m_children;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                std::set&lt;void*&gt; m_controlLocksRequired;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                <span class="comment">// Make copy constructor and copy assignment operator private.</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                <a class="code" href="class_subscriber.html#acf994baa7d26eaa3d05c767b695e5d64">Subscriber</a>(<span class="keyword">const</span> <a class="code" href="class_subscriber.html">Subscriber</a> &amp;other) {}</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                <span class="keywordtype">void</span> operator=(<span class="keyword">const</span> <a class="code" href="class_subscriber.html">Subscriber</a> &amp;other) {}</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                <a class="code" href="class_systematic_robot.html">SystematicRobot</a> *GetRobot();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                <span class="keywordtype">void</span> SetRobot(<a class="code" href="class_systematic_robot.html">SystematicRobot</a> *robot);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                <span class="keywordtype">bool</span> GetIsSubscribed() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                <span class="keywordtype">void</span> SetIsSubscribed(<span class="keywordtype">bool</span> isSubscribed);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                <span class="keywordtype">void</span> AddChild(boost::shared_ptr&lt;Subscriber&gt; subscriber);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                <span class="keywordtype">void</span> AddChild(<a class="code" href="class_subscriber.html">Subscriber</a> &amp;subscriber);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                <span class="keywordtype">void</span> RemoveChild(boost::shared_ptr&lt;Subscriber&gt; subscriber);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                <span class="keywordtype">void</span> RemoveOperation(<a class="code" href="class_operation_3_01_unspecified_01_4.html">Operation&lt;Unspecified&gt;</a> *operation);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                <span class="keywordtype">void</span> RunPeriodic();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                <span class="keywordtype">void</span> AquireLocks();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                <span class="keywordtype">void</span> ReleaseLocks();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                <span class="keywordtype">void</span> LaunchInternal(boost::shared_ptr&lt;<a class="code" href="class_operation_3_01_unspecified_01_4.html">Operation&lt;Unspecified&gt;</a> &gt; operation);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;};</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">#endif // #ifndef FPK_SUBSCRIBER_HPP</span></div>
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